Objective • Develop a two member team, composed of autonomous robots. • Play soccer against an opposing team while only receiving information trough several types of sensors and processing instructions from a microcontroller.

Global Vision System • Computer controls position of the robots through a global camera positioned on top of the center of the soccer court

Global Vision System Process Camera takes a picture of the soccer field and the image acquisition card stores the image in the computer’s memory. Image acquisition Image is simplified to an image consisting of only 8 colors. Solid colors define boundaries in the image. Image Segmentation New game state Object’s position and robot orientation are acquired through algorithms that use the color, area and position of the boundaries of the segmented image. Object Recognition Computer AI creates statistics of the current game conditions and interprets them to decide the best play. Game AI

Image Segmentation • Segment: An area in the image whose properties are used for object recognition. • Segments define a robot with two properties: • Colors: • yellow:computer player • black: human controlled player. • Position: • The initial position of a robot identifies it in the field. • Updated by performing a search starting from the previously found position.

Game AI • Game relevant data is calculated • Distance between game elements • Line of movement of the ball • Possible contact points between computer controlled robots and the ball • Data is analyzed to decide the best play • Individual robot actions are sent to the communication system